US7800737B2 - Laser range finding device and distance measurement method thereof - Google Patents
Laser range finding device and distance measurement method thereof Download PDFInfo
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- US7800737B2 US7800737B2 US12/047,350 US4735008A US7800737B2 US 7800737 B2 US7800737 B2 US 7800737B2 US 4735008 A US4735008 A US 4735008A US 7800737 B2 US7800737 B2 US 7800737B2
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- 238000000691 measurement method Methods 0.000 title claims abstract description 20
- 238000005070 sampling Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 6
- 238000013507 mapping Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
Definitions
- the invention relates to a laser range finding device and distance measurement method thereof, and more precisely, to a laser range finding device and distance measurement method for measuring a distance between a laser range finding device and a target using time of flight (TOF) of laser signals.
- TOF time of flight
- a distance between a laser range finding device and a target is calculated by directly measuring time of flight of the laser light pulse signal.
- a laser diode When a laser diode is trigged by a driving circuit, it generates a start pulse as a starting signal of a time distance measurement system to start counting time. Then, after a reflected laser signal has been received and amplified, the laser diode generates a stop pulse to stop the time count.
- a counting circuit measures a time difference between the start pulse and the stop pulse to calculate and obtain a time of flight of the transmitted laser pulse signal from the target to the laser range finding device, thereby obtaining the distance between the laser range finding device and the target using the calculated time of flight.
- the signal strength of the reflected signal received by the laser range finding device may be very weak, such that the signal strength of the received signal is only a little larger than that of a noise signal.
- noise signal values may be erroneous determined as the target signal if a predetermined threshold level is set too small or the weak signal reflected from the target will not be detected if the predetermined threshold level is set too large.
- An embodiment of the invention provides and discloses a distance measurement method for use in a laser range finding device to measure a distance between the laser range finding device and a target.
- the distance measurement method comprises the following steps. First, a laser signal to the target is transmitted in a first time point. Then, a reflected laser signal reflected by the target is received. Next, a digital signal having a plurality of signal values is obtained by sampling the reflected laser signal with a sampling signal, wherein the signal values range from 0 to N where N is a positive integer greater than two. A maximum signal value among the signal values of the digital signal is then found. Finally, the distance between the laser range finding device and the target is calculated according to the first time point and a second time point corresponding to the maximum signal value.
- An embodiment of the invention also provides and discloses a laser range finding device for measuring a distance between the laser range finding device and a target.
- the laser range finding device at least comprises a transmitter, a receiver, an analog-to-digital converter and a system unit.
- the transmitter transmits a laser signal to the target in a first time point.
- the receiver receives a reflected laser signal reflected by the target.
- the analog-to-digital converter samples the reflected laser signal with a sampling signal to obtain a digital signal having a plurality of signal values, wherein the signal values range from 0 to N where N is a positive integer greater than two.
- the system unit finds a maximum signal value among the signal values of the digital signal and calculates the distance between the laser range finding device and the target according to the first time point and a second time point that generates the maximum signal value.
- FIG. 1 schematically shows a block diagram of an embodiment of a laser range finding device
- FIG. 2 is a block diagram illustrating an embodiment of a laser range finding device according to the invention
- FIG. 3 is a signal waveform diagram
- FIG. 4 is a flowchart of an embodiment of a distance measurement method according to the invention.
- FIG. 5 is a flowchart of another embodiment of a distance measurement method according to the invention.
- FIG. 6 schematically shows an embodiment of a mapping table according to the invention.
- FIG. 7 schematically shows an embodiment of a digital signal according to the invention.
- FIGS. 1 through 7 generally relate to a laser range finding devices and distance measurement methods thereof.
- FIGS. 1 through 7 generally relate to a laser range finding devices and distance measurement methods thereof.
- FIGS. 1 through 7 generally relate to a laser range finding devices and distance measurement methods thereof.
- FIGS. 1 through 7 generally relate to a laser range finding devices and distance measurement methods thereof.
- FIGS. 1 through 7 generally relate to a laser range finding devices and distance measurement methods thereof.
- the embodiments of the invention provide a laser range finding device and distance measurement method thereof so as to obtain a distance between the laser range finding device and a target.
- a laser range finding device is provided.
- the laser range finding device performs a digitalization operation for a received reflected laser signal by an analog-to-digital converter (ADC) so as to generate a digital signal comprising a multitude of signal values.
- ADC analog-to-digital converter
- the reflected laser signal is utilized to obtain a digital signal comprising a plurality of signal values, and a maximum signal value among all of the signal values of the digital signal is then found.
- a time of flight of the laser signal is calculated using the time point which generates the maximum signal value thereby obtaining the distance between the laser range finding device and the target, wherein the time of flight of the laser signal indicates a time difference from a first time point that the laser signal is transmitted to a second time point that a reflected laser signal is received.
- FIG. 1 schematically shows a block diagram of an embodiment of a laser range finding device 100 .
- a transmitter in the laser range finding device 100 transmits a laser signal to a target 110 and then a receiver receives the reflected laser signal.
- the signal values of the reflected laser signal are converted to a value of one or zero by a comparator, processed by a signal processing unit to find out the time point that a target signal is received so as to determine a distance to the target.
- the comparator compares the inputted signal value to a threshold level to determine an output value.
- a value “1” is outputted when the inputted signal value is larger than or equal to the threshold level, otherwise a value “0” is outputted.
- the threshold level has to be set very small such that noise signals may be erroneously determined as the target signal should the signal value of the noise signal exceed the threshold level. In this case, the target signal may not be actually recognized thereby extending the time needed for distance measurement.
- FIG. 2 is a block diagram illustrating an embodiment of a laser range finding device 200 according to the invention, for measuring the distance therefrom to a target 260 .
- the laser range finding device 200 comprises a transmitter 210 , a receiver 220 , a analog-to-digital converter (ADC) 230 , a system on chip (SOC) 240 and a displaying unit 250 .
- the transmitter 210 transmits a laser signal L 1 to the target 260 for measuring the distance.
- the transmitter 210 further comprises a pulsed laser diode 212 and a driving circuit 240 , wherein the driving circuit 240 controls the laser diode 212 to transmit the laser signal to the target 260 .
- the receiver 220 receives a reflected laser signal L 2 reflected by the target 260 , which comprises an avalanche photodiode 222 for receiving the reflected laser signal reflected by the target, a signal amplifier 224 for amplifying the reflected laser signal received by the avalanche photodiode 222 , and a filter circuit 226 for performing a noise filtering to the amplified reflected laser signal.
- the analog-to-digital converter 230 is coupled to the receiver 220 , performing a signal digitalization to the reflected laser signal from the receiver 220 so as to obtain a digital signal having a plurality of signal values.
- the digital signal has a specific waveform as same as that of the reflected laser signal and all of the signal values range from 0 to N where N is a positive integer greater than two.
- signals S 1 , S 2 and S 3 represent waveforms of the received reflected laser signal L 2 , a digital signal that has been digitalized by the comparator of the laser range finding device 100 in FIG. 1 , and a digital signal that has been digitalized by the analog-to-digital converter 230 of the laser range finding device 200 in FIG. 2 , respectively.
- the analog-to-digital converter 230 is an eight bits analog-to-digital converter (ADC) so that the reflected signal is converted to a digital signal that has a plurality of signal values ranging from 0 to 255.
- ADC analog-to-digital converter
- the output of the digital signal S 2 forming a waveform which is a square wave due to each output of the digital signal S 2 is determined by comparing the inputted signal value to a threshold level, not representing that the sampling point P 2 has a maximum peak value or a maximum signal value.
- the signal values of digital signal S 3 may be quantified as various signal values, not only representing that the sampling point P 2 has a maximum peak value or a maximum signal value but also keeping a waveform as same as that of the original signal S 1 .
- the system on chip (SOC) 240 comprises a control logic unit 242 , a memory unit 244 and a processing unit 246 .
- the control logic unit 242 is coupled to the processing unit 214 , the transmitter 210 and the analog-to-digital converter 230 , driving the transmitter 210 to transmit the laser signal to the target 260 and activating the analog-to-digital converter starting signal conversion when it receives a trigger signal from the processing unit 246 .
- the memory unit 244 stores a digital signal converted by the analog-to-digital converter 230 .
- the processing unit 246 reads the stored digital signal from the memory unit 244 and finds a maximum signal value among all of the signal values of the digital signal to calculate a time of flight of the laser signal so as to obtain the distance between the laser range finding device 200 and the target 260 .
- FIG. 4 is a flowchart 400 of an embodiment of a distance measurement method according to the invention. In this embodiment, refer to both FIGS. 2 and 4 .
- step S 410 a laser signal is transmitted to the target 260 in a first time point T 1 .
- the time point T 1 is the starting time the laser signal begins transmission.
- the control logic unit 244 receives a trigger signal from the processing unit 246 and prepares to perform the distance measurement. Accordingly, during the first time point, the control logic unit 242 drives the driving circuit 214 of the transmitter 210 to control the laser diode 212 to transmit the laser signal L 1 to the target 260 and activates the analog-to-digital converter 230 starting signal conversion.
- a reflected laser signal L 2 reflected by the target 260 is then received by the avalanche photodiode 222 of the receiver 220 , amplified by the signal amplifier 224 , filtered for noise from the amplified reflected laser signal by the filter circuit 226 to achieve a filtered result, and outputted (e.g., signal S 1 shown in FIG. 3 ) to the analog-to-digital converter 230 .
- the analog-to-digital converter 230 converts the reflected laser signal from the receiver 220 to a digital signal so as to generate a digital signal having a plurality of signal values.
- the analog-to-digital converter 230 is an eight bits analog-to-digital converter
- the reflected laser signal S 1 will be converted to the digital signal S 3 having a plurality of signal values ranging from 0 to 255, in which the waveform of the digital signal S 3 is as same as that of the signal S 3 .
- the digital signal is stored in the memory unit 244 .
- step S 440 the processing unit 246 reads the stored digital signal from the memory unit 244 and finds a maximum signal value among all of the signal values of the digital signal.
- step S 450 the processing unit 246 calculates a time of flight of the laser signal using the first time point T 1 and a second time point T 2 that generated the maximum signal value.
- step S 460 the distance between the laser range finding device 200 and the target 260 is determined by multiplying the calculated time of flight T by the speed of e light.
- the signal values are within a large range (i.e. 0 to N, N>2), depending on the bit number of the used analog-to-digital converter, such that a difference between the noise signal value and the target signal value is larger than one.
- the target signal can be easily and actually located and found, shortening the time needed for distance measurement.
- a threshold level is further applied to help determination of the maximum signal value (i.e. target signal).
- FIG. 5 is a flowchart 500 of another embodiment of a distance measurement method according to the invention.
- a threshold level corresponding to environmental parameters (such as weather, strength of sun light and noise of the test environment) is obtained.
- the environmental parameters such as strength of sun light, can be repeatedly tested in advance to acquire a group of corresponding statistical data to serve as threshold levels later.
- To acquire the group of statistical data corresponding to the environmental parameters a number of laser signals are transmitted to the sky and then reflected laser signals are received by the receiver of the laser range finding device as sampled signals.
- the sampled signals are analyzed to find a relationship of the average signal value AV which is an average value of those sampled signal values and a difference ⁇ V of the found maximum signal value and a relative maximum signal value found in an area outside of the maximum signal value within a predetermined range.
- the threshold level can be set as a value that exceeds a maximum value of the difference ⁇ V. For example, for the average signal value AV ranging from 18000 to 19000, the measured possible range of the difference ⁇ V is from 0 to 40, so the threshold level can be set as 42, for example, if the sampled average signal value AV is a value that blows 19000.
- FIG. 6 schematically shows an embodiment of a mapping table 600 according to the invention.
- the mapping table 600 has an average value AV field representing the average signal value AV and a threshold level field in which each average value AV field corresponds to a threshold level. For example, by looking up the mapping table, the threshold level is set as 42 if the average value AV is 18500, while the threshold level is set as 62 if the average value AV is 19501.
- a second larger signal value located in an area outside of the maximum signal value within a predetermined range is found.
- the predetermined range can be freely adjusted and it is normally a value around the maximum signal value so as to prevent performing erroneous comparisons.
- a relative maximum value i.e. the second larger signal value
- the predetermined range can be defined as, for example, a time interval that utilizes the maximum signal value as a reference central point within three yards, but is not limited thereto.
- FIG. 7 schematically shows an embodiment of a digital signal according to the invention.
- the signal value at a point V 1 is found as the maximum signal value, and a relative maximum signal value (i.e. the signal value at a point V 2 ) is thus, found in an area outside of the signal value of the point V 1 within a predetermined range.
- step S 530 it is determined that whether a difference ⁇ V (i.e. V 1 ⁇ V 2 ) between the maximum signal value and the relative maximum signal value is not less than a selected threshold level. If so (Yes in step S 530 ), the found maximum signal value is determined as the target signal thereby the second time point that the maximum signal value has occurred is recognized as being correct (step S 540 ). If not (No in step S 530 ), it implies that the found maximum signal value may be a noise signal, therefore, the laser signal is re-transmitted to perform another measurement (step S 550 ).
- ⁇ V i.e. V 1 ⁇ V 2
- a maximum value would be found after the time point that the maximum signal value has occurred (as the signal value at time point T 3 shown in FIG. 7 ) due to the property of the hardware devices (such as the analog filter). Such property of the hardware devices, therefore, may be used to help determination of the target signal.
- a relative minimum signal value can be acquired after the maximum signal value has occurred, and then it is determined that whether a difference ⁇ V 2 (i.e. V 1 ⁇ V 3 ) between the maximum signal value and the relative minimum signal value is not less than a second threshold level. If so, the found maximum signal value is determined as the target signal thereby the second time point that the maximum signal value has occurred is recognized as being correct. If not, it implies that the found maximum signal value may be a noise signal, therefore, the laser signal is re-transmitted to perform another measurement.
- ⁇ V 2 i.e. V 1 ⁇ V 3
- the difference ⁇ V between the maximum signal value and the second larger signal value is less than the selected threshold level (No in step S 530 )
- the receiver is capable of receiving a number of reflected laser signals corresponding to the transmitted ones and accumulating or averaging these received reflected laser signals so as to perform further processes using the accumulated or averaged signals.
- the invention is therefore capable of application in distance measurement for a plurality of sets of laser signals.
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Abstract
Description
Claims (16)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US12/885,852 US8018580B2 (en) | 2007-06-25 | 2010-09-20 | Laser range finding device and distance measurement method thereof |
US13/208,125 US20110299061A1 (en) | 2007-06-25 | 2011-08-11 | Laser range finding device and distance measurement method thereof |
US13/898,523 US9030651B2 (en) | 2007-06-25 | 2013-05-21 | Laser range finding device and distance measurement method thereof |
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TW96122879A | 2007-06-25 | ||
TW96122879 | 2007-06-25 | ||
TW096122879A TWI333541B (en) | 2007-06-25 | 2007-06-25 | Laser range finder and related range measurement method |
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US12/885,852 Continuation US8018580B2 (en) | 2007-06-25 | 2010-09-20 | Laser range finding device and distance measurement method thereof |
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US7800737B2 true US7800737B2 (en) | 2010-09-21 |
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US12/885,852 Active US8018580B2 (en) | 2007-06-25 | 2010-09-20 | Laser range finding device and distance measurement method thereof |
US13/208,125 Abandoned US20110299061A1 (en) | 2007-06-25 | 2011-08-11 | Laser range finding device and distance measurement method thereof |
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US12/885,852 Active US8018580B2 (en) | 2007-06-25 | 2010-09-20 | Laser range finding device and distance measurement method thereof |
US13/208,125 Abandoned US20110299061A1 (en) | 2007-06-25 | 2011-08-11 | Laser range finding device and distance measurement method thereof |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US9606228B1 (en) | 2014-02-20 | 2017-03-28 | Banner Engineering Corporation | High-precision digital time-of-flight measurement with coarse delay elements |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
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US9030651B2 (en) | 2007-06-25 | 2015-05-12 | Sintai Optical (Shenzhen) Co., Ltd. | Laser range finding device and distance measurement method thereof |
US8073634B2 (en) * | 2008-09-22 | 2011-12-06 | University Of Ottawa | Method to extract target signals of a known type from raw data containing an unknown number of target signals, interference, and noise |
WO2013067513A1 (en) | 2011-11-04 | 2013-05-10 | Massachusetts Eye & Ear Infirmary | Contextual image stabilization |
KR20160069806A (en) * | 2014-12-09 | 2016-06-17 | 한화테크윈 주식회사 | Distance measuring apparatus and distance measuring method |
CN105445719B (en) * | 2015-11-13 | 2017-09-29 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | A kind of three-dimensional laser scanner data filtering methods |
DE102016100261A1 (en) * | 2016-01-08 | 2017-07-13 | Nanofocus Ag | Method for electronic analysis of a time-varying signal |
USD875200S1 (en) | 2018-01-03 | 2020-02-11 | Bushnell Inc. | Rangefinder display device |
USD842723S1 (en) | 2017-09-27 | 2019-03-12 | Bushnell Inc. | Rangefinder |
USD926606S1 (en) | 2017-11-01 | 2021-08-03 | Bushnell Inc. | Rangefinder |
US10471947B1 (en) * | 2018-04-27 | 2019-11-12 | Honeywell International Inc. | Determining estimated remaining use of brake assembly by transceiver |
US10928485B1 (en) * | 2018-05-22 | 2021-02-23 | Panosense Inc. | Lidar ring lens return filtering |
US10941826B2 (en) | 2018-09-12 | 2021-03-09 | Honeywell International Inc. | Determining estimated remaining use of brake assembly |
CN111208527B (en) * | 2018-11-16 | 2022-03-08 | 北京万集科技股份有限公司 | Laser radar ranging method and device, laser radar and storage medium |
CN111273309B (en) * | 2020-03-11 | 2023-04-07 | 西安应用光学研究所 | Method for obtaining target distance |
CN112764048B (en) * | 2020-12-30 | 2022-03-18 | 深圳市灵明光子科技有限公司 | Addressing and ranging method and ranging system based on flight time |
CN112596062B (en) * | 2021-01-28 | 2021-07-13 | 锐驰智光(北京)科技有限公司 | Method and device for detecting echo signal of laser radar and storage medium |
JP2024518096A (en) * | 2021-05-12 | 2024-04-24 | シェルタード ウィングス インコーポレイテッド | SYSTEM AND METHOD FOR PROVIDING READINGS FROM A RANGING DEVICE - Patent application |
CN113759339B (en) * | 2021-11-10 | 2022-02-25 | 北京一径科技有限公司 | Echo signal processing method, device, equipment and storage medium |
CN116412081A (en) * | 2021-12-31 | 2023-07-11 | 新疆金风科技股份有限公司 | Tower clearance monitoring method and device and electronic equipment |
CN114046984B (en) * | 2022-01-12 | 2022-04-29 | 北京恒润安科技有限公司 | Gate fault troubleshooting device based on phase method laser ranging |
CN116299519B (en) * | 2023-03-08 | 2023-10-03 | 广东恩威视科技有限公司 | Laser ranging method |
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- 2010-09-20 US US12/885,852 patent/US8018580B2/en active Active
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US5691808A (en) * | 1995-07-31 | 1997-11-25 | Hughes Electronics | Laser range finder receiver |
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US20110013173A1 (en) | 2011-01-20 |
US20080316464A1 (en) | 2008-12-25 |
US20110299061A1 (en) | 2011-12-08 |
TWI333541B (en) | 2010-11-21 |
US8018580B2 (en) | 2011-09-13 |
TW200900659A (en) | 2009-01-01 |
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